The objective of this task was to get the Multipurpose Mobile Manipulator to feed cereal or oatmeal from a bowl to a human being. The robot has specialized end effectors for both the left and right hands. On the left hand is a bowl adapter that holds the cereal bowl. On the right hand is a spoon adapter that scoops cereal from the bowl and feeds it to a human. The two end effectors work together to deliver a very robotic cereal eating experience.